CANopen Communication Module DVPCOPM-SL 5 Sending SDO, NMT and Reading Emergency by Ladder Diagram 5.1 Principle See the chart below for sending SDO by WPL program: IFD9503 VFD-B A: DVP-SV sends out request message to DVPCOPM-SL (master). B: DVPCOPM-SL (master) sends out request message to the target equipment. C: The target equipment processes the request message and sends the response message to DVPCOPM-SL. D: DVP-SV receives SDO, NMT and Emergency data. 5.2 Structure of SDO Request Message You can edit SDO, NMT and Emergency in “request message editing area”. Take the first DVPCOPM-SL master placed on the left hand side of DVP-SV for example.
See the table below for the corresponding relation between “request message editing area” and “response message editing area” and the devices in PLC. DVP-PLC Operation Manual 28 SDO request message A (PLC -> COPM) D SDO response message (COPM -> PLC) DVPCOPM DVP28SV RUN STOP DVPCOPM-SL DVP28SV t message from master SDO response message from s B C 1 T R PO 2 T R PO DVP28SV RUN STOP PLC device Editing area Editing length D6000 ~ D6031 SDO response message and Emergency response message 64 bytes D6250 ~ D6281 SDO request message, NMT service message and Emergency request message 64 bytes